Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control

Gurav, Bhimashankar; Economou, J.T.; Saddington, Alistair J.; Knowles, K.

doi:10.3390/aerospace4020030

Cited by 4 publications

(2 citation statements)

References 20 publications

(28 reference statements)

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“…In this study, the knee and hip joints of the LES were actuated by flat brushless motors with a planetary reducer to perform gait locomotion. Through appropriately applied current field-oriented control [34], the electromagnetic torque can be simplified as…”

Section: The Dynamic Model Of the Lower-limb Exoskeletonmentioning

confidence: 99%

“…f knee (t) = 28.1 − 17.7 cos(3.1t) + 11.2 sin(3.1t)+1.2 cos(6.3t) − 17.2 sin(6.3t) − 1.9 cos(9.4t) +3.5 sin(9.4t) + 0.7 cos(12.6t) + 1.2 sin(12.6t) − 0.1 cos(15.7t) − 0.7 sin(15.7t) for the knee. (34) and f hip (t) = 12.7 − 14.6 cos(3.1t) − 19.6 sin(3.1t) + 2.7 cos(6.3t) − 3.3 sin(6.3t) − 0.7 cos(9.4t) +1.8 sin(9.4t) + 0.2 cos(12.6t) + 0.1 sin(12.6t) for the hip, (35) Figure 10a,b show the regular gait-training cycle for the experiments, described as angle trajectories, for the knee and hip, respectively, during the standard two-second gait period. The period of gait training is modifiable.…”

Section: Lower Limb Exoskeleton Gait Trajectory Tracking Controlmentioning

confidence: 99%

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Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Lee

et al. 2022

Applied Sciences

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The use of bodyweight unloading force control on a treadmill with therapist manual assistance for gait training imposes constraints on natural walking. It influences the patient’s training effect for a full range of natural walks. This study presents a prototype and a safety controller for a mobile rehabilitation robot (MRR). The prototype integrates an autonomous mobile bodyweight support system (AMBSS) with a lower-limb exoskeleton system (LES) to simultaneously achieve natural over-ground gait training and motion relearning. Human-centered rehabilitation robots must guarantee the safety of patients in the presence of significant tracking errors. It is difficult for traditional stiff controllers to ensure safety and excellent tracking accuracy concurrently, because they cannot explicitly guarantee smooth, safe, and overdamped motions without overshoot. This paper integrated a linear extended state observer (LESO) into proxy-based sliding mode control (ILESO-PSMC) to overcome this problem. The LESO was used to observe the system’s unknown states and total disturbance simultaneously, ensuring that the “proxy” tracks the reference target accurately and avoids the unsafe control of the MRR. Based on the Lyapunov theorem to prove the closed-loop system stability, the proposed safety control strategy has three advantages: (1) it provides an accurate and safe control without worsening tracking performance during regular operation, (2) it guarantees safe recoveries and overdamped properties after abnormal events, and (3) it need not identify the system model and measure unknown system states as well as external disturbance, which is quite difficult for human–robot interaction (HRI) systems. The results demonstrate the feasibility of the proposed ILESO-PSMC for MRR. The experimental comparison also indicates better safety performance for the ILESO-PSMC than for the conventional proportional–integral–derivative (PID) control.

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Section: The Dynamic Model Of the Lower-limb Exoskeletonmentioning

confidence: 99%

Section: Lower Limb Exoskeleton Gait Trajectory Tracking Controlmentioning

confidence: 99%

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Lee

et al. 2022

Applied Sciences

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Design and Analysis of Missile Control Effectiveness, Visualized through MATLAB

Prasad¹,

Keerthana²,

Akhila³

et al. 2023

Cognitive Science and Technology

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Research on design method of double-loop electric servo loading system with high-frequency band based on H∞ control strategy

Shui

Wei

Yan

2020

Measurement and Control

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In the hardware-in-the-loop simulation, the goal of electric loading is to realize the accurate tracking of the torque signal and test the performance of the aircraft actuator system. For some high dynamic aircraft, it is necessary to reduce the influence of the surplus torque to increase the system frequency band. This paper introduces a new electric loading system which adopts a double-loop servo motor as the torque loading mechanism. It applies two loops to track the position of the rudder and the aerodynamic load spectrum respectively. For the purpose of reducing the disturbance between two loops of the scheme, a two-DOF H∞ robust controller is designed, which improves the robustness of the system effectively. The simulation results show that the new system increases the upper limit of 25 Hz frequency band of the traditional single-loop system with PID control to the maximum of 40 Hz. The double-loop system thereby meets the technical requirements of the hardware-in-the-loop simulation experiment for high dynamic aircrafts.

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Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control

Cited by 4 publications

References 20 publications

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Hardware Development and Safety Control Strategy Design for a Mobile Rehabilitation Robot

Design and Analysis of Missile Control Effectiveness, Visualized through MATLAB

Research on design method of double-loop electric servo loading system with high-frequency band based on H∞ control strategy

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